WO1998049580A2 - Method for determining position, for navigating a motor vehicle in traffic - Google Patents

Method for determining position, for navigating a motor vehicle in traffic Download PDF

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Publication number
WO1998049580A2
WO1998049580A2 PCT/DE1998/001018 DE9801018W WO9849580A2 WO 1998049580 A2 WO1998049580 A2 WO 1998049580A2 DE 9801018 W DE9801018 W DE 9801018W WO 9849580 A2 WO9849580 A2 WO 9849580A2
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ref
determined
sensors
data
new
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PCT/DE1998/001018
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German (de)
French (fr)
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WO1998049580A3 (en
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Friedrich-Wilhelm Bode
Volkmar Tanneberger
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Robert Bosch Gmbh
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Publication of WO1998049580A2 publication Critical patent/WO1998049580A2/en
Publication of WO1998049580A3 publication Critical patent/WO1998049580A3/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments

Definitions

  • Position determination method for the purpose of navigating a motor vehicle in road traffic
  • the invention relates to a method for determining the position for the purpose of navigating a motor vehicle in road traffic using a satellite navigation system with the aid of a satellite receiver and measurement signals of additional sensors, in which the data of the satellite receiver with the measurement signals of the additional sensors for determining current position data be linked.
  • the invention further relates to a locating device for performing the method.
  • a global satellite navigation system e.g. GPS
  • the set accuracy of the satellite navigation system is usually not sufficient, for example to assign the position of a motor vehicle to a specific road, which is stored in the form of an electronic map in the navigation system.
  • ABS automatic braking system
  • the present invention is therefore based on the problem of creating a navigation system for motor vehicles in road traffic which can be inexpensively produced with an accuracy and speed that is sufficient for the navigation of motor vehicles in road traffic and is therefore suitable for mass applications.
  • a method of the type mentioned at the outset is characterized in that a new position is determined from the measurement signals of the additional sensors, starting from a reference position, and that the satellite position determines the new position determined in this way and the associated position by the satellite receiver at regular intervals determined position, if receivable, a new reference position is calculated by averaging the two position values with a significantly stronger weighting of the new position determined by the sensors.
  • the method according to the invention is based on the knowledge that it is not necessary for the navigation of a motor vehicle in road traffic to have exact positions available at all times, but that relatively longer times can also be required in order to obtain corrected data. It is therefore sufficient according to the invention to center the data of the additional sensors and the satellite receiver, which are subject to the fundamental errors, for example at time intervals in the range of seconds, with the averaging having a significantly stronger weighting of those with the
  • the ratio of the position determined by the sensors to the position determined by the satellite receiver can be greater than or equal to 3: 1, preferably around 10: 1.
  • Data of the satellite receiver from the data from the additional sensors to calibrate the sensors that is to carry out an automatic calibration of the sensors in a constantly self-learning system.
  • the invention also provides a locating device for carrying out the described method with a satellite receiver for forming position data, with additional sensors for forming position data on the basis of a reference position and with an averager for weighted averaging of the position data in the ratio of Position data determined by sensors to the position data determined by satellite navigation of at least 3: 1, preferably about 10: 1, is provided.
  • the present invention requires very little computing effort to calculate a new reference position for determining a new position with the aid of the sensors. If a satellite navigation signal cannot be received, the averaging is omitted at this time and the new position determined by the sensors is used as the new reference position.
  • Figure 1 is a flow chart for the location according to an embodiment of the invention
  • Figure 2 is a schematic representation of the location principle when receiving a satellite signal
  • FIG. 3 shows a schematic illustration for the location in the case of a satellite signal that cannot be received
  • the locating device waits for the first position (GPS position) received by a satellite receiver (step 2: “waiting for the first GPS position”). After the first GPS position is available, it is used as the reference position (step 3: “Accepting the GPS position as the reference position”). With the aid of the additional sensors, the path covered by the motor vehicle is determined and coupled to the reference position (step 4: “coupling to the reference position using the sensor information”).
  • the sensors can be calibrated by comparing a plurality of position data determined by the additional sensors with GPS positions (Step 6: “Calibrate the sensors using the GPS Measurement ").
  • the position determined with the additional sensors is averaged with the current GPS position in a fixed ratio of> . 3: 1, for example 10: 1, to form a" current position "(steps 7:” Linking GPS and coupling position in a fixed relationship to the current position ").
  • This current position is adopted as the new reference position (step 8:” Accepting the "current” position as reference position "), and the coupling cycle begins on the basis of the new reference position again.
  • step 9 Transfer of the coupling position as "current” position " and in step 8 as a new reference position.
  • FIG. 2 illustrates the method according to the invention in a schematic location diagram.
  • a reference position REF which is formed by the first GPS position
  • several calculations are carried out for the current location in order to determine a coupled position K (Tl) on the basis of the signals from the additional sensors.
  • a new GPS position G Tl
  • a new reference position REF Tl
  • new calculations are carried out on the basis of the output signals of the additional sensors until a new coupled position K (T2) is available, for which a new, current GPS position G (T2) is obtained.
  • a new weighted averaging creates a new reference position REF (T2), which forms the starting point for further calculations for determining new positions on the basis of the output signals of the additional sensors.
  • REF reference position
  • the inaccuracies in the GPS position are "smoothed" by averaging with the calculated coupled positions.
  • FIG. 3 shows the method of operation of the method according to the invention when satellite navigation is not possible due to unfavorable reception conditions.
  • the paths determined by the sensors are calculated on the basis of a reference signal REF (TO) and the coupled position K (Tl), K (T2) thus calculated is used as the new reference position REF (Tl), REF (T2).
  • TO reference signal
  • Tl coupled position K
  • T2 new reference position REF
  • T2 REF
  • a reference position REF can of course be used, which is predefined, for example, by entering a known position of the motor vehicle and can be assigned by the navigation device on the basis of the stored electronic road map.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The invention relates to a method for determining position for the purpose of navigating a motor vehicle in traffic, using a satellite navigation system with a satellite receiver and measuring signals from additional sensors. The current position data is determined by combining data from the satellite receiver G (T1), G (T2) with the measuring signals from the supplementary sensors K (T1), K (T2). The aim of the invention is to provide a method which is arithmetically simple so that the corresponding positioning devices can be produced inexpensively. To this end, a new position K (T1), K (T2) is determined from the measuring signals of the additional sensors, based on a reference position REF (T0), REF (T1), REF (T2) and a new reference position REF (T1), REF (T2) is calculated at regular intervals from the resulting new position K (T1), K (T2) and a corresponding position G (T1), G (T2) determined by the satellite, if the signal can be received, by averaging the two position values G (T1), K (T1); G (T2), K (T2) with a significantly stronger weighting given to the new position K (T1), K (T2) determined by the sensors.

Description

Verfahren zur Positionsbestimmung zum Zwecke der Navigation eines Kraftfahrzeugs im Straßenverkehr Position determination method for the purpose of navigating a motor vehicle in road traffic
Die Erfindung betrifft ein Verfahren zur Positionsbestimmung zum Zwecke der Navigation eines Kraftfahrzeugs im Straßenver- kehr unter Ausnutzung eines Satelliten-Navigationssystems mit Hilfe eines Satellitenempfängers und von Meßsignalen zusätzlicher Sensoren, bei dem die Daten des Satellitenempfängers mit den Meßsignalen der zusätzlichen Sensoren zur Bestimmung von aktuellen Positionsdaten verknüpft werden. Die Erfindung be- trifft ferner eine Ortungsvorrichtung zur Durchführung des Verfahrens .The invention relates to a method for determining the position for the purpose of navigating a motor vehicle in road traffic using a satellite navigation system with the aid of a satellite receiver and measurement signals of additional sensors, in which the data of the satellite receiver with the measurement signals of the additional sensors for determining current position data be linked. The invention further relates to a locating device for performing the method.
Es ist bekannt, zur Positionsbestimmung Daten eines globalen Satelliten-Navigationssystems (z.B. GPS) heranzuziehen. Für die Bestimmung der Position eines Kraftfahrzeugs ist die eingestellte Genauigkeit des Satelliten-Navigationssystems regelmäßig nicht ausreichend, um beispielsweise die Position eines Kraftfahrzeugs einer bestimmten Straße zuzuordnen, die in Form einer elektronischen Karte im Navigationssystem abgespeichert ist.It is known to use data from a global satellite navigation system (e.g. GPS) to determine the position. For the determination of the position of a motor vehicle, the set accuracy of the satellite navigation system is usually not sufficient, for example to assign the position of a motor vehicle to a specific road, which is stored in the form of an electronic map in the navigation system.
Es ist daher bekannt, zusätzliche Sensoren zu verwenden, mit denen eine weitere Positionsbestimmung für das Fahrzeug durchgeführt wird. Bei Kraftfahrzeugen bieten sich als zusätzliche Sensoren beispielsweise die Radsensoren eines automatischen Bremssystems (ABS) an, die mit einer hohen Genauigkeit die Radbewegungen eines Kraftfahrzeugs detektieren können. Mit Hilfe derartiger Sensoren sind über kurze Zeiträume sehr exakte Positionsbestimmungen möglich. Allerdings addieren sich etwaige Fehler über einen längeren Zeitraum so auf, daß es zu groben Ungenauigkeiten kommen kann. Diese groben Ungenauigkei- ten können durch die prinzipiell immer gleich genauen Daten des Satellitenempfängers vermieden werden.It is therefore known to use additional sensors with which a further position determination for the vehicle is carried out. In the case of motor vehicles, the wheel sensors of an automatic braking system (ABS), for example, are suitable as additional sensors Can detect wheel movements of a motor vehicle. With the help of such sensors, very exact position determinations are possible over short periods of time. However, any errors over a long period of time add up so that gross inaccuracies can occur. These rough inaccuracies can be avoided by the data of the satellite receiver, which in principle is always the same.
Zu einer hochgenauen Bestimmung der Position von Luft- und Seefahrzeugen ist es bekannt, die Daten des Satellitenempfängers und die Daten von zusätzlichen Sensoren in einer Koppelrechnung, beispielsweise mit Hilfe eines Kaiman-Filters, zu koppeln. Die hierfür erforderlichen Rechenvorgänge sind sehr kompliziert und benötigen einen nicht unerheblichen Rechenauf- wand. Für eine angestrebte Low-Cost-Anwendung zur Navigation von privaten Kraftfahrzeugen im Straßenverkehr eignen sich die bekannten Systeme daher nicht. Die hohen Kosten derartiger gekoppelter Systeme stehen einer größeren Verbreitung von elektronischen Kraftfahrzeug-Navigationshilfen entgegen.For a highly precise determination of the position of air and sea vehicles, it is known to couple the data from the satellite receiver and the data from additional sensors in a coupling calculation, for example with the aid of a Cayman filter. The computation processes required for this are very complicated and require a not inconsiderable amount of computation. The known systems are therefore not suitable for a targeted low-cost application for navigating private motor vehicles in road traffic. The high costs of such coupled systems prevent the widespread use of electronic vehicle navigation aids.
Die vorliegende Erfindung geht somit von der Problemstellung aus, ein Navigationssystem für Kraftfahrzeuge im Straßenverkehr zu erstellen, das mit einer für die Navigation von Kraftfahrzeugen im Straßenverkehr ausreichenden Genauigkeit und Schnelligkeit preiswert zu erstellen ist und sich somit für Massenanwendungen eignet.The present invention is therefore based on the problem of creating a navigation system for motor vehicles in road traffic which can be inexpensively produced with an accuracy and speed that is sufficient for the navigation of motor vehicles in road traffic and is therefore suitable for mass applications.
Ausgehend von dieser Problemstellung ist erfindungsgemäß ein Verfahren der eingangs erwähnten Art dadurch gekennzeichnet, daß aus den Meßsignalen der zusätzlichen Sensoren ausgehend von einer Referenzposition eine neue Position ermittelt wird und daß regelmäßig in zeitlichen Abständen aus der so ermittelten neuen Position und einer zugehörigen, durch den Satellitenempfänger ermittelten Position, falls empfangbar, eine neue Referenzposition durch Mittelung der beiden Positionswerte mit einer deutlich stärkeren Gewichtung der mit den Sensoren ermittelten neuen Position errechnet wird. Das erfindungsgemäße Verfahren beruht auf der Erkenntnis, daß es für die Navigation eines Kraftfahrzeugs im Straßenverkehr nicht erforderlich ist, exakte Positionen zu jeder Zeit verfügbar zu haben, sondern daß auch relativ längere Zeiten be- nötigt werden können, um korrigierte Daten zu erhalten. Daher ist es erfindungsgemäß ausreichend, die mit den grundsätzlichen Fehlern behafteten Daten der zusätzlichen Sensoren und des Satellitenempfängers beispielsweise in zeitlichen Abständen im Sekundenbereich zu mittein, wobei erfindungsgemäß die Mittlung mit einer deutlich stärkeren Gewichtung der mit denBased on this problem, a method of the type mentioned at the outset is characterized in that a new position is determined from the measurement signals of the additional sensors, starting from a reference position, and that the satellite position determines the new position determined in this way and the associated position by the satellite receiver at regular intervals determined position, if receivable, a new reference position is calculated by averaging the two position values with a significantly stronger weighting of the new position determined by the sensors. The method according to the invention is based on the knowledge that it is not necessary for the navigation of a motor vehicle in road traffic to have exact positions available at all times, but that relatively longer times can also be required in order to obtain corrected data. It is therefore sufficient according to the invention to center the data of the additional sensors and the satellite receiver, which are subject to the fundamental errors, for example at time intervals in the range of seconds, with the averaging having a significantly stronger weighting of those with the
Sensoren ermittelten neuen Position erfolgt. Für die Mittelung kann das Verhältnis der durch die Sensoren ermittelten Position zu der durch den Satellitenempfänger ermittelten Position größer oder gleich 3:1 sein, vorzugsweise bei etwa 10:1 lie- gen.Sensors determined new position takes place. For the averaging, the ratio of the position determined by the sensors to the position determined by the satellite receiver can be greater than or equal to 3: 1, preferably around 10: 1.
Da ein sich langsam aufsummierender Fehler der durch die Sensoren ermittelten Daten mit Hilfe der Daten des Satellitenempfängers aufdeckbar ist, ist es erfindungsgemäß zweckmäßig, durch eine Feststellung der Abweichungen einer Vielzahl vonSince a slowly accumulating error in the data determined by the sensors can be detected with the aid of the data from the satellite receiver, it is expedient according to the invention to determine the deviations of a large number of
Daten des Satellitenempfängers von den Daten der zusätzlichen Sensoren die Sensoren zu kalibrieren, also eine automatische Kalibrierung der Sensoren in einem ständig selbstlernenden System durchzuführen.Data of the satellite receiver from the data from the additional sensors to calibrate the sensors, that is to carry out an automatic calibration of the sensors in a constantly self-learning system.
Ausgehend von der oben genannten Problemstellung ist erfindungsgemäß ferner eine Ortungsvorrichtung zur Durchführung des beschriebenen Verfahrens mit einem Satellitenempfänger zur Bildung von Positionsdaten, mit zusätzlichen Sensoren zu Bil- düng von Positionsdaten auf der Basis einer Referenzposition und mit einem Mittelwertbildner zur gewichteten Mittelung der Positionsdaten im Verhältnis der durch Sensoren ermittelten Positionsdaten zu den durch die Satellitennavigation ermittelten Positionsdaten von wenigstens 3:1, vorzugsweise etwa 10:1, versehen ist. Die vorliegende Erfindung kommt mit einem sehr geringen Rechenaufwand aus, um eine neue Referenzposition für die Ermittlung einer neuen Position mit Hilfe der Sensoren zu errechnen. Sollte ein Satellitennavigationssignal nicht empfang- bar sein, entfällt zu diesem Zeitpunkt die Mittelung, und die durch die Sensoren ermittelte neue Position wird als neue Referenzposition verwendet.Based on the problem mentioned above, the invention also provides a locating device for carrying out the described method with a satellite receiver for forming position data, with additional sensors for forming position data on the basis of a reference position and with an averager for weighted averaging of the position data in the ratio of Position data determined by sensors to the position data determined by satellite navigation of at least 3: 1, preferably about 10: 1, is provided. The present invention requires very little computing effort to calculate a new reference position for determining a new position with the aid of the sensors. If a satellite navigation signal cannot be received, the averaging is omitted at this time and the new position determined by the sensors is used as the new reference position.
Die Erfindung soll im folgenden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert werden. Es zeigen:The invention will be explained in more detail below with reference to an embodiment shown in the drawing. Show it:
Figur 1 ein Flußdiagramm für die Ortung nach einem Ausführungsbeispiel der ErfindungFigure 1 is a flow chart for the location according to an embodiment of the invention
Figur 2 eine schematische Darstellung für das Ortungsprinzip bei Empfang eines SatellitensignalsFigure 2 is a schematic representation of the location principle when receiving a satellite signal
Figur 3 eine εchematische Darstellung für die Ortung bei einem nicht empfangbaren SatellitensignalFIG. 3 shows a schematic illustration for the location in the case of a satellite signal that cannot be received
Gemäß dem in Figur 1 dargestellten Ausführungsbeispiel wird nach dem Schritt 1 "Starten der Ortung" von der Ortungsvor- richtung auf die erste von einem Satellitenempfänger empfangene Position (GPS-Position) gewartet (Schritt 2: "Warten auf erste GPS-Position"). Nach dem Vorliegen der ersten GPS-Position wird diese als Referenzposition verwendet (Schritt 3: "Übernahme der GPS-Position als Referenzposition"). Mit Hilfe der zusätzlichen Sensoren wird der von dem Kraftfahrzeug zurückgelegte Weg ermittelt und mit der Referenzposition gekoppelt (Schritt 4: "Koppeln mit Hilfe der Sensorinformation auf die Referenzposition"). Liegt nun eine neue, aktuelle GPS-Position vor (Schritt 5: Entscheidung "Liegt eine aktuelle GPS- Position vor?"), kann durch einen Vergleich einer Mehrzahl von durch die zusätzlichen Sensoren ermittelten Positionsdaten mit GPS-Positionen eine Kalibrierung der Sensoren vorgenommen werden (Schritt 6: "Kalibrieren der Sensoren mit Hilfe der GPS- Messung"). Die mit den zusätzlichen Sensoren ermittelte Position (Koppelposition) wird mit der aktuellen GPS-Position in einem festen Verhältnis von >. 3:1, beispielsweise 10:1, zur Bildung einer "aktuellen Position" gemittelt (Schritte 7: "Verknüpfen von GPS- und Koppelposition in einem festen Verhältnis zur aktuellen Position"). Diese aktuelle Position wird als neue Referenzposition übernommen (Schritt 8: "Übernahme der "aktuellen" Position als Referenzposition"), und der Kopplungszyklus beginnt auf der Basis der neuen Referenzposition von neuem.According to the exemplary embodiment shown in FIG. 1, after the step 1 "start the locating", the locating device waits for the first position (GPS position) received by a satellite receiver (step 2: "waiting for the first GPS position"). After the first GPS position is available, it is used as the reference position (step 3: "Accepting the GPS position as the reference position"). With the aid of the additional sensors, the path covered by the motor vehicle is determined and coupled to the reference position (step 4: "coupling to the reference position using the sensor information"). If there is now a new, current GPS position (step 5: decision “is there a current GPS position?”), The sensors can be calibrated by comparing a plurality of position data determined by the additional sensors with GPS positions (Step 6: "Calibrate the sensors using the GPS Measurement "). The position determined with the additional sensors (coupling position) is averaged with the current GPS position in a fixed ratio of> . 3: 1, for example 10: 1, to form a" current position "(steps 7:" Linking GPS and coupling position in a fixed relationship to the current position "). This current position is adopted as the new reference position (step 8:" Accepting the "current" position as reference position "), and the coupling cycle begins on the basis of the new reference position again.
Ist eine Mittlung zwischen Koppelposition und GPS-Position nicht möglich, weil keine aktuelle GPS-Position vorliegt ( "Nein"-Alternative in Schritt 5), beispielsweise aufgrund eines abgeschatteten Satellitenempfangs, wird die von den zusätzlichen Sensoren errechnete Position (Koppelposition) als "aktuelle" Position gewertet (Schritt 9: "Übernahme der Koppelposition als "aktuelle" Position") und im Schritt 8 als neue Referenzposition übernommen.If an averaging between the coupling position and GPS position is not possible because there is no current GPS position ("No" alternative in step 5), for example due to shadowed satellite reception, the position (coupling position) calculated by the additional sensors is "current" "Position evaluated (step 9:" Transfer of the coupling position as "current" position ") and in step 8 as a new reference position.
Figur 2 verdeutlicht in einem schematischen Ortsdiagramm das erfindungsgemäße Verfahren. Ausgehend von einer Referenzposition REF (TO), die durch die erste GPS-Position gebildet ist, werden mehrere Berechnungen für den aktuellen Ort zur Ermitt- lung einer gekoppelten Position K (Tl) aufgrund der Signale der zusätzlichen Sensoren durchgeführt. Wenn inzwischen eine neue GPS-Position G (Tl) vorliegt, wird durch eine gewichtete Mittlung mit einem Übergewicht für die gekoppelte Position K (Tl) eine neue Referenzposition REF (Tl) ermittelt. Auf der Basis dieser neuen Referenzposition REF (Tl) werden erneute Berechnungen aufgrund der Ausgangssignale der zusätzlichen Sensoren durchgeführt, bis eine neue gekoppelte Position K (T2) vorliegt, zu der eine neue, aktuelle GPS-Position G (T2) erhalten wird. Durch eine erneute gewichtete Mittlung entsteht eine neue Referenzposition REF (T2), die Ausgangspunkt für weitere Rechnungen zur Bestimmung neuer Positionen auf der Basis der Auεgangssignale der zusätzlichen Sensoren bildet. Bei dem in Figur 2 dargestellten Verfahren werden die Unge- nauigkeiten der GPS-Position durch die Mittlung mit den errechneten gekoppelten Positionen "geglättet".FIG. 2 illustrates the method according to the invention in a schematic location diagram. Starting from a reference position REF (TO), which is formed by the first GPS position, several calculations are carried out for the current location in order to determine a coupled position K (Tl) on the basis of the signals from the additional sensors. If there is now a new GPS position G (Tl), a new reference position REF (Tl) is determined by a weighted averaging with an overweight for the coupled position K (Tl). On the basis of this new reference position REF (Tl), new calculations are carried out on the basis of the output signals of the additional sensors until a new coupled position K (T2) is available, for which a new, current GPS position G (T2) is obtained. A new weighted averaging creates a new reference position REF (T2), which forms the starting point for further calculations for determining new positions on the basis of the output signals of the additional sensors. In the method shown in FIG. 2, the inaccuracies in the GPS position are "smoothed" by averaging with the calculated coupled positions.
Darüber hinaus wird mit sehr einfachen Berechnungen ein für Landkraftfahrzeuge völlig ausreichendes Navigationsergebnis erzielt, wobei zu berücksichtigen ist, daß die jeweilige Mittlung bei normalen GPS-Empfang etwa in Abständen von einer Sekunde stattfindet.In addition, a navigation result that is completely sufficient for land motor vehicles is achieved with very simple calculations, it having to be taken into account that the respective averaging takes place at approximately one second intervals with normal GPS reception.
Figur 3 zeigt die Funktionsweise des erfindungsgemäßen Verfahrens, wenn aufgrund ungünstiger Empfangsbedingungen keine Satellitennavigation möglich ist. In diesem Fall wird ausgehend von einem Referenzsignal REF (TO) die durch die Sensoren er- mittelten Wege berechnet und die so errechnete gekoppelte Position K (Tl), K (T2) als neue Referenzposition REF (Tl), REF (T2) verwendet. Auf diese Weise ist sichergestellt, daß immer Navigationssignale verfügbar sind, auch wenn über eine gewisse Zeit keine Satellitensignale empfangen werden können.FIG. 3 shows the method of operation of the method according to the invention when satellite navigation is not possible due to unfavorable reception conditions. In this case, the paths determined by the sensors are calculated on the basis of a reference signal REF (TO) and the coupled position K (Tl), K (T2) thus calculated is used as the new reference position REF (Tl), REF (T2). In this way it is ensured that navigation signals are always available, even if no satellite signals can be received for a certain time.
Sollte beim Einschalten der Ortungsvorrichtung eine GPS-Position nicht empfangen werden, kann selbstverständlich eine Referenzposition REF (TO) verwendet werden, die beispielsweise durch eine Eingabe einer bekannten Position des Kraftfahrzeugs vorgegeben wird und vom Navigationsgerät aufgrund der abgespeicherten elektronischen Straßenkarte zugeordnet werden kann. If a GPS position is not received when the locating device is switched on, a reference position REF (TO) can of course be used, which is predefined, for example, by entering a known position of the motor vehicle and can be assigned by the navigation device on the basis of the stored electronic road map.

Claims

Ansprüche Expectations
1. Verfahren zur Positionsbestimmung zum Zwecke der Navigation eines Kraftfahrzeugs im Straßenverkehr unter Ausnut- zung eines Satelliten-Navigationssystems mit Hilfe eines Satellitenempfängers und von Meßsignalen zusätzlicher Sensoren, in dem die Daten des Satellitenempfängers G (Tl), G (T2) mit den Meßsignalen der zusätzlichen Sensoren K (Tl), K (T2) zur Bestimmung der aktuellen Posi- tionsdaten verknüpft werden, dadurch gekennzeichnet, daß aus den Meßsignalen der zusätzlichen Sensoren ausgehend von einer Referenzposition REF (TO), REF (Tl), REF (T2) eine neue Position K (Tl), K (T2) ermittelt wird und daß regelmäßig in zeitlichen Abständen aus der so ermittelten neuen Position K (Tl), K (T2) und einer zugehörigen, durch den Satellitenempfänger ermittelten Position G (Tl), G (T2), falls empfangbar, eine neue Referenzposition REF (Tl), REF (T2) durch Mittelung der beiden Positionswerte G (Tl), K (Tl); G (T2), K (T2), mit einer deutlich stärkeren Gewichtung der mit den Sensoren ermittelten neuen Position K (Tl), K (T2) errechnet wird.1. Method for determining the position for navigation of a motor vehicle in road traffic using a satellite navigation system with the aid of a satellite receiver and measurement signals from additional sensors, in which the data of the satellite receiver G (Tl), G (T2) with the measurement signals of additional sensors K (Tl), K (T2) are linked to determine the current position data, characterized in that, starting from a reference position REF (TO), REF (Tl), REF (T2), one of the measurement signals of the additional sensors new position K (Tl), K (T2) is determined and that regularly at time intervals from the new position K (Tl), K (T2) determined in this way and an associated position G (Tl), G (determined by the satellite receiver) T2), if receivable, a new reference position REF (Tl), REF (T2) by averaging the two position values G (Tl), K (Tl); G (T2), K (T2), with a significantly stronger weighting of the new position K (Tl), K (T2) determined with the sensors.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die zeitlichen Abstände im Sekundenbereich liegen.2. The method according to claim 1, characterized in that the time intervals are in the second range.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß für die Mittlung das Verhältnis von durch die Sensoren ermittelten Position K (Tl), K (T2) zur durch Satellitenempfang ermittelten Position G (Tl), G (T2) von we- nigstens 3:1 gewählt wird.3. The method according to claim 1 or 2, characterized in that for the averaging, the ratio of the position determined by the sensors K (Tl), K (T2) to the position determined by satellite reception G (Tl), G (T2) of we- at least 3: 1 is selected.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß das Verhältnis etwa 10:1 beträgt. 4. The method according to claim 3, characterized in that the ratio is about 10: 1.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß durch eine Feststellung der Abweichungen einer Vielzahl von Daten des Satellitenempfängers5. The method according to any one of claims 1 to 4, characterized in that by detecting the deviations of a plurality of data from the satellite receiver
G (Tl), G (T2) von den Daten der zusätzlichen Sensoren K (Tl), K (T2) die Sensoren kalibriert werden.G (Tl), G (T2) from the data of the additional sensors K (Tl), K (T2) the sensors are calibrated.
6. Ortungsvorrichtung zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 5 mit einem Satellitenempfänger zur Bildung von Positionsdaten G (Tl), G (T2) und mit zusätzlichen Sensoren zur Bildung von Positionsdaten6. Location device for performing the method according to one of claims 1 to 5 with a satellite receiver for forming position data G (Tl), G (T2) and with additional sensors for forming position data
K (Tl, K (T2) auf der Basis einer Referenzposition REF (TO), REF (Tl), REF (T2) und mit einem Mittelwertbildner zur gewichteten Mittelung der Positionsdaten im Verhältnis der durch die Sensoren ermittelten Positionsdaten K (Tl) , K (T2) zu den durch Satellitennavigation ermittelten Positionsdaten G (Tl), G (T2) von wenigstens 3:1.K (Tl, K (T2) on the basis of a reference position REF (TO), REF (Tl), REF (T2) and with an averager for weighted averaging of the position data in the ratio of the position data K (Tl), K determined by the sensors (T2) to the position data G (Tl), G (T2) of at least 3: 1 determined by satellite navigation.
7. Ortungsvorrichtung nach Anspruch 6, dadurch gekennzeichnet, daß der Mittelwertbildner auf ein Verhältnis von etwa 10:1 eingestellt ist. 7. Locating device according to claim 6, characterized in that the averager is set to a ratio of about 10: 1.
PCT/DE1998/001018 1997-04-26 1998-04-08 Method for determining position, for navigating a motor vehicle in traffic WO1998049580A2 (en)

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